JPH11355994A - Winding method of stator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a winding method of wire which can obtain an uniform magnetic field, in the winding of a slotless stator core. SOLUTION: In a winding method for forming a winding 1 by winding wire around a stator core 11 of a motor, the winding 1 is formed by winding wire around a slotless stator core 11, in a toroidal state and an orderly state. As to the winding in the toroidal state, when the wire is wound while being spirally rotated, the winding is performed while no intersecting parts exist in the wound wire in one direction where the winding 11 is formed by winding operation. Position precision of the winding in the tangential direction to the stator core 11 surface is improved. As to the winding in the orderly state, the winding is formed by a layer unit, and winding is performed by laminating the formed layers. Position precision of the winding in the normal direction to the stator core 11 surface is improved. Thickness of the whole winding is made uniform.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a winding method for winding a winding around a stator core in a motor, particularly a motor having a slotless structure.

[0002]

2. Description of the Related Art In various precision instruments such as optical instruments and electronic instruments, with high accuracy, high density and high integration, processing accuracy on the order of nanometers is required for these components. Machine tools, steppers, and electron beam lithography systems that process these high-precision parts require very high-resolution accuracy. Generally, in these processing apparatuses and manufacturing apparatuses, positioning is performed by a positioning apparatus. The position control of the positioning device is often performed by a rotary servomotor or a linear motor controlled by the CNC. Therefore, in order to increase the processing accuracy of the component parts, it is necessary to control the rotary servomotor and the linear motor with high accuracy.

FIG. 10 is a schematic sectional view for explaining a magnetic circuit of an ordinary servomotor. A commonly used servo motor has a slot 24 in the stator core 21,
A winding 23 formed by winding the wire 22 is embedded in the slot 24. In the magnetic circuit formed by this configuration, the magnetic lines of force 27 are
Go through 6. Therefore, the winding 23 having a predetermined winding
Then, it is not necessary to wind the windings 23 in a line.

However, since a rotary servomotor or a linear motor usually has a torque ripple, it is necessary to reduce the torque ripple in order to control the motor with high accuracy.

[0005] The torque ripple can be roughly classified into a mechanically structured torque ripple and an electromagnetic torque ripple. For example, in the case of a rotary servomotor, frictional resistance generated in a bearing or the like of a rotor shaft is a factor of mechanical structural torque ripple. In addition, magnetic distortion generated between the rotor and the stator causes electromagnetic torque ripple.

Hitherto, in order to reduce mechanical structural torque ripples, there has been proposed an apparatus in which a frictional resistance is reduced by, for example, supporting a bearing in a non-contact manner with an air bearing, a magnetic bearing, or the like. Further, in order to reduce electromagnetic torque ripple, a stator having a slotless structure has been proposed.

Usually, a slot is provided in the stator core as shown in FIG. 10 in order to form a winding by winding a wire around the stator. This slot causes cogging torque. In the case of a stator having a slot, the electromagnetic action on the rotor is determined by the shape of the slot, and the effect of winding the winding is small. Therefore, it is sufficient that only the number of turns of the winding matches the set number, and the position and shape of the winding are not so important factors.

On the other hand, in the case of a stator core having a slotless structure, the positional accuracy of the winding and the shape of the winding are important factors for determining the electromagnetic action on the rotor.

FIGS. 11 and 12 are a schematic sectional view for explaining the magnetic circuit of the slotless motor and a schematic sectional view for explaining the positional error of the winding. In FIG. 11, a winding 33 is attached to an inner surface of the ring-shaped stator core 31 facing the rotor 35. The stator core 31 of this configuration does not include slots and teeth, and the magnetic force lines 37 are directly affected by the windings 33.
The positional accuracy of the installation of the winding 33 to be attached to the torsion becomes the torque ripple as it is.

In FIG. 12, the positional error of the winding includes a positional error a, a rotational attaching error b, and a normal attaching, which are caused by the wires not being wound in alignment in each winding block. There is an error c and the like. The torque ripple due to these causes may be larger than a motor having a slot.

Conventionally, a method of winding a wire around the slotless stator core has been proposed. FIGS. 13 and 14 are diagrams for explaining a configuration example in which a wire is wound around a slotless stator core. In FIGS. 13 and 14, a single segment-shaped winding 42 is prepared in advance by winding wires in a line using a jig or the like, and the segment-shaped winding 42 is attached to the stator core 51. Connect the lines. Thereby, the positional accuracy of the winding at the time of assembly is improved.

[0012]

In the above-described method of winding a wire around a slotless stator core, since the winding is attached to only one side of the stator core, it is difficult to obtain sufficient strength. When molding is used, there is a problem that it is peeled off by curing shrinkage of the molding agent.

Further, since each segment-shaped winding has an overlapping portion, it is necessary to form the winding in a complicated three-dimensional shape. In FIG. 13, the segments are provided with a bent portion 53 in the winding segment 52 in order to make the height of the straight portion acting on the magnet in the normal direction constant so that the segments are staggered and stuck. The bent portion 53 is a portion where the coating of the wire is most likely to be broken, and since this position is the edge portion of the stator core 51, it is a place where a short circuit between lines and a ground fault are likely to occur. For this reason, there is a problem that a large bending stress is generated in the wire rod, which may damage the coating, cause a short circuit between the wires, or cause a ground fault accident. There is also a problem that it is difficult to arrange the segments with high positional accuracy due to a position error due to a difference in shape and dimensions of each segment, a position error in a normal direction due to bonding, and the like.

Further, as shown in FIG. 15, the stator usually has a winding portion projecting from the stator core in the axial direction of the motor, called a winding lug 58. This portion does not electromagnetically contribute to the rotor. Therefore, as the number of windings increases, the size of the motor increases,
There is a problem that the miniaturization is hindered. In FIG. 16, a housing 57 on a support member side for supporting a stator or the like is shown.
In the above, when a portion corresponding to the protruding winding portion is shaved to form a counterbore groove 59, thereby reducing the size,
This causes a problem that the mechanical rigidity of the motor is reduced.

Therefore, the present invention solves the conventional problems,
A first object is to provide a winding method of a wire rod capable of obtaining a uniform magnetic field in a winding of a slotless stator core, and a winding of a slotless stator core capable of obtaining a uniform magnetic field, In a winding of a slotless stator core, a method of winding a wire capable of arranging windings with high positional accuracy, and providing a winding of a slotless stator core having windings arranged with high positional accuracy. (2) A method of winding a wire rod capable of reducing a winding portion protruding from a stator core in an axial direction of a motor, and a slotless stator core having a small number of winding portions protruding from a stator core in an axial direction of the motor. To provide a third winding
The purpose of.

[0016]

SUMMARY OF THE INVENTION The present invention relates to a winding method for forming a winding by winding a wire around a stator core of a motor, wherein the wire is wound around a slotless stator core in a toroidal and aligned winding. A winding method for forming a winding (corresponding to claim 1). In a winding method for forming a winding by winding a wire around a stator core of a motor, the wire is wound around a slotless stator core. A winding method (corresponding to claim 2) is to form a winding by overlapping and winding in a toroidal shape at a constant winding pitch.

Here, when the wire is wound while being spirally rotated, the toroidal winding intersects with the wound wire in one direction in which the winding is formed by the winding operation. In this way, the winding accuracy in the tangential direction with respect to the surface of the stator core can be increased.

[0018] The winding of the aligned winding means forming the winding in layers, stacking the formed layers and winding, thereby forming the winding in the normal direction to the surface of the stator core. Position accuracy can be improved. By increasing the positional accuracy of the winding in the normal direction, the thickness of the entire winding can be made uniform.

Therefore, by winding the wire in a toroidal and aligned winding around the slotless stator core, it is possible to improve the positional accuracy of the winding in both the tangential direction and the normal direction to the surface of the stator core. Can be. By forming the winding with high positional accuracy in both directions, the electrical resistance and inductance of the winding can be made uniform, and a uniform magnetic field can be formed.

In the toroidal winding, when the wires are wound one upon another at a constant winding pitch, the tangential and normal directions with respect to the surface of the stator core are reduced.
The positional accuracy of the winding can be improved. Thereby, a uniform magnetic field can be formed.

Further, in the case of winding in a toroidal shape, in each layer in one direction in which a winding is formed by the winding operation, a portion where the wound wire material intersects is not formed, but the winding operation is folded back. When the next layer is wound, a portion where windings intersect between adjacent layers occurs. The portion where the windings intersect is located on the side of the stator where the magnetic field formed by the stator is less affected by the rotation of the rotor. By arranging the intersections of the windings, it is possible to reduce the influence on the torque ripple due to the non-uniformity of the magnetic field generated at the intersections. The location where the windings intersect may be, for example, the axial end face of the stator or the outer peripheral face of the stator opposite to the rotor side.

When the wire is wound around the ring-shaped stator core in a toroidal shape, a gap is generated between the wires on the outer diameter side due to a dimensional difference between the inner diameter and the outer diameter of the stator core. However, since the rotor is usually used by being arranged on the inner diameter side of the stator, even if non-uniformity occurs in the magnetic field due to the gap formed between the outer diameter wires, it does not affect the rotation of the rotor.

In the present invention, the wire forming the winding is a rectangular wire, and the adjacent rectangular wires are wound by winding such that the adjacent sides are parallel (corresponding to claim 3). When several rounds of wire are wound, if a round wire with a circular cross section is used, even if it is aligned winding, the so-called "bale stacking" state is at the end that is the folded part of the winding. , Which may be a factor in generating inhomogeneity in the magnetic field. When the wire of the present invention is formed into a rectangular wire and wound by winding such that adjacent sides of the adjacent rectangular wire are parallel, a uniform magnetic field can be formed even at the end of the turn of the winding.

At this time, by appropriately determining the aspect ratio of each side of the cross section of the rectangular wire, it is possible to suppress an increase in the size of the entire winding.

Further, according to the present invention, the windings of the respective phases determined according to the number of poles are electrically connected by connecting the wirings via wiring formed on a printed circuit board arranged on the end face of the stator core. This is a winding method for forming a wire (corresponding to claim 4).

Further, according to the present invention, a printed board is brought into close contact with one end face or two opposite end faces of a stator core, and a wire is wound around the printed board and the stator core as an integral body. It is a winding method (corresponding to claim 5).

When a multi-pole motor is driven by a plurality of phases out of phase with each other, a plurality of windings are formed on the stator corresponding to the number of poles and the number of phases of the motor. For example, in the case of a stator of an eight-pole three-phase AC servomotor, the windings are toroidally arranged and wound in a toroidal shape within a range of 15 degrees of slot score, and are wound in a toroidal shape at a constant winding pitch. The segments are set at 24 positions of 8 poles × 3 phases, with each unit of winding being set as a unit (hereinafter, one unit of winding is referred to as a segment). In addition, in the installation of this segment, each adjacent segment is wound in reverse winding, and in every three segments, it is in reverse winding in phase.

The connection of each segment is performed using a printed circuit board which is brought into close contact with one end face or two opposing end faces of the stator core. When the wire is wound around the stator core, the wire is wound around the printed circuit board and the stator core as a single body.
With this configuration, connection between the segments is facilitated. In addition, the amount of protrusion of a protruding portion, which is a so-called winding ear, is reduced, so that the motor can be easily downsized. In addition, since the wire material integrally fixes the stator core and the toroidal printed circuit board, a structure in which the wire material is less likely to peel or shift can be provided. Further, since the edge portion of the stator core is covered with the printed circuit board, it is possible to suppress bending stress of the wire and peeling of the insulating coating. The function of the printed board can be further enhanced by forming the cross-sectional shape of the edge portion of the printed board round.

[0029]

Embodiments of the present invention will be described below in detail with reference to the drawings. 1 to 9 show an example in which the winding method of the present invention is applied to a stator of a three-phase AC servomotor. 1 to 4 are views of the winding 1 as viewed from the rotor side, FIG. 1 is a perspective view, FIG. 2 is a plan view as viewed from the rotor side, and FIGS. . 5 to 9 are views of the winding 1 viewed from the stator side.
FIG. 5 is a perspective view, FIG. 6 is a plan view seen from the rotor side, and FIGS.
8 is a sectional view taken along line BB, and FIG. 9 is a sectional view of the motor.

The printed circuit boards 12 and 13 are arranged in close contact with both end faces in the axial direction of the stator core 11, and the wire 2 is wound around the printed circuit boards 12 and 13 and the stator core 11 so as to wrap them integrally. I do.

In the winding of the wire 2, aligned winding is performed in a toroidal shape. In order to wind the wire 2 around the stator core 11 and the printed boards 12 and 13 in a toroidal shape, the wire 2 is wound around the stator core 11 and the printed boards 12 and 13.
13 while being spirally rotated in the axial direction. As shown in FIG. 2, the wire 2 is wound without intersecting each other by forming a toroidal portion of a layer in which a winding is formed by the winding operation.

After the winding of the wire 2 by one layer in the axial direction of the stator core 11 and the printed circuit boards 12 and 13 is completed, the wire 2 is folded back at the end, and is wound on the layer formed by the previous winding. I do. In the next layer, winding is performed in a toroidal shape as in the previous case. As a result, the winding is formed in layers, and the formed layers are stacked and wound in an aligned winding. 3 and 4 are diagrams for explaining this aligned winding. FIG. 3 shows a case where the wire 2a has a circular cross section. The wire 2a wound in a toroidal shape is disposed between the wires 2a between the layers, and the layers are sequentially stacked in the normal direction. FIG. 4 shows a case where the wire 2b is a rectangular wire having a rectangular cross section. The wire 2b wound in a toroidal shape forms each layer, and the layers are sequentially stacked in the normal direction. In this winding, when the adjacent wire 2b is wound such that the adjacent sides of the adjacent flat wire are parallel to each other, a uniform magnetic field can be formed even at the end of the folded portion of the winding.

At this time, by appropriately determining the aspect ratio of each side of the cross section of the rectangular wire, it is possible to suppress an increase in the size of the entire winding. For example, by laminating rectangular wires so that the shorter sides are in the normal direction, the thickness in the entire normal direction can be reduced.

In the case of winding in a toroidal shape, in each layer in one direction in which the winding is formed by the winding operation, a portion where the wound wire material intersects is not formed, but the winding operation is folded back. When the next layer is wound, a portion where windings intersect between adjacent layers occurs. As shown in FIG. 5, the portion where the windings intersect is arranged on the side of the stator where the magnetic field formed by the stator is less affected by the rotation of the rotor. In FIG. 5, the intersection is located on the opposite side of the rotor. Moreover, it can also be arrange | positioned at the axial end surface side of a stator.

FIG. 6 is a view of the intersection of the windings viewed from the rotor side. The angle of the windings with respect to the axial direction of the stator core differs between adjacent layers. FIG.
FIG. 8 is a view for explaining the state of the aligned winding. FIG. 7 shows a case where the wire 2a has a circular cross section. The wire 2a wound in a toroidal shape is a wire 2a between the respective layers.
Arranged on top, each layer is sequentially stacked in the normal direction.
FIG. 8 shows a case where the cross-sectional shape is a rectangular flat wire 2b, and the wire 2b wound in a toroidal shape forms each layer, and the layers are sequentially stacked in the normal direction.

According to the winding method of the present invention, the lugs formed in the conventional winding are not formed, so that the axial length of the motor can be suppressed and the size can be reduced. Further, as shown in FIG. 9, the winding segment 3 can be housed in the motor without forming a counterbore groove in the housing 17.

In the above embodiment, the case of a rotary servomotor is described, but the present invention can be similarly applied to a linear motor.

[0038]

As described above, according to the present invention,
In the winding of the slotless stator core, it is possible to provide a winding method of a wire capable of obtaining a uniform magnetic field, and a winding of the slotless stator core capable of obtaining a uniform magnetic field. In the winding of the stator core, it is possible to provide a winding method of a wire rod in which the winding can be arranged with high positional accuracy, and a winding of the slotless stator core in which the winding is arranged with high positional accuracy, A winding method of a wire rod capable of reducing a winding portion protruding from a stator core in an axial direction of a motor, and a slotless stator core winding having few winding portions protruding from a stator core in an axial direction of the motor. be able to.

[Brief description of the drawings]

FIG. 1 is a perspective view of a winding when a winding method of the present invention is applied to a stator of a three-phase AC servomotor, as viewed from a rotor side.

FIG. 2 is a plan view of a winding when the winding method of the present invention is applied to a stator of a three-phase AC servomotor, as viewed from a rotor side.

FIG. 3 is a sectional view taken along line AA of a winding when the winding method of the present invention is applied to a stator of a three-phase AC servomotor.

FIG. 4 is a sectional view taken along line AA of a winding when the winding method of the present invention is applied to a stator of a three-phase AC servomotor.

FIG. 5 is a perspective view of a winding when the winding method of the present invention is applied to a stator of a three-phase AC servomotor, as viewed from the stator side.

FIG. 6 is a plan view of a winding when the winding method of the present invention is applied to a stator of a three-phase AC servomotor, as viewed from the stator side.

FIG. 7 is a sectional view taken along line BB of the winding when the winding method of the present invention is applied to a stator of a three-phase AC servomotor.

FIG. 8 is a sectional view taken along line BB of the winding when the winding method of the present invention is applied to a stator of a three-phase AC servomotor.

FIG. 9 is a motor cross-sectional view when the winding method of the present invention is applied to a stator of a three-phase AC servomotor.

FIG. 10 is a schematic cross-sectional view for explaining a magnetic circuit of a normal servo motor.

FIG. 11 is a schematic sectional view for explaining a magnetic circuit of the slotless motor.

FIG. 12 is a schematic cross-sectional view for explaining a positional error of a winding.

FIG. 13 is a diagram for explaining a configuration example in which a wire is formed by winding a wire around a slotless stator core.

FIG. 14 is a diagram illustrating a configuration example in which a wire is wound around a slotless stator core.

FIG. 15 is a schematic sectional view for explaining ears of a winding;

FIG. 16 is a schematic sectional view for explaining a counterbore groove for accommodating a winding ear;

[Explanation of symbols]

 1, 23, 33, 54, 55, 56 windings 2, 2a, 2b, 22 wire 3 winding segment 4 winding start contact 5 winding end contact 6 wiring 10, 20, 30 stator 11, 21, 31, 51 Stator core 12, 13 Printed circuit board 15, 25, 35 Rotor 16, 56 Shaft 17, 57 Housing 24 Slot 26 Teeth 27, 37 Magnetic field line 52 Winding segment 53 Bent portion 58 Winding ear 59 Counterbore groove

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[Procedure amendment]

[Submission date] August 11, 1999

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claim 1

[Correction method] Change

[Correction contents]

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] Claim 2

[Correction method] Change

[Correction contents]

Claims (5)

[Claims] 1. A winding method for forming a winding by winding a wire around a stator core of a motor, wherein the winding is formed by winding the wire in a toroidal and aligned winding around a slotless stator core. Winding method. 2. A winding method for forming a winding by winding a wire around a stator core of a motor, wherein the winding is formed by winding the wire in a toroidal shape on a slotless stator core at a constant winding pitch. The method of winding the stator. 3. The method according to claim 1, wherein the wire is a rectangular wire, and adjacent sides of the adjacent rectangular wires are arranged in parallel. 4. The winding between each phase winding determined according to the number of poles,
The method for winding a stator according to claim 1, 2, or 3, wherein the electrical connection is performed by connecting via a wiring formed on a printed board disposed on an end face of the stator core. 5. The winding of a stator according to claim 4, wherein a printed circuit board is brought into close contact with one end face or two opposite end faces of the stator core, and a wire is wound therearound as an integral part of the printed board and the stator core. Method.